rtos: add support for uC/OS-III
[openocd.git] / src / rtos / rtos.c
1 /***************************************************************************
2 * Copyright (C) 2011 by Broadcom Corporation *
3 * Evan Hunter - ehunter@broadcom.com *
4 * *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
9 * *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
14 * *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18
19 #ifdef HAVE_CONFIG_H
20 #include "config.h"
21 #endif
22
23 #include "rtos.h"
24 #include "target/target.h"
25 #include "helper/log.h"
26 #include "helper/binarybuffer.h"
27 #include "server/gdb_server.h"
28
29 /* RTOSs */
30 extern struct rtos_type FreeRTOS_rtos;
31 extern struct rtos_type ThreadX_rtos;
32 extern struct rtos_type eCos_rtos;
33 extern struct rtos_type Linux_os;
34 extern struct rtos_type ChibiOS_rtos;
35 extern struct rtos_type embKernel_rtos;
36 extern struct rtos_type mqx_rtos;
37 extern struct rtos_type uCOS_III_rtos;
38
39 static struct rtos_type *rtos_types[] = {
40 &ThreadX_rtos,
41 &FreeRTOS_rtos,
42 &eCos_rtos,
43 &Linux_os,
44 &ChibiOS_rtos,
45 &embKernel_rtos,
46 &mqx_rtos,
47 &uCOS_III_rtos,
48 NULL
49 };
50
51 int rtos_thread_packet(struct connection *connection, const char *packet, int packet_size);
52
53 int rtos_smp_init(struct target *target)
54 {
55 if (target->rtos->type->smp_init)
56 return target->rtos->type->smp_init(target);
57 return ERROR_TARGET_INIT_FAILED;
58 }
59
60 static int os_alloc(struct target *target, struct rtos_type *ostype)
61 {
62 struct rtos *os = target->rtos = calloc(1, sizeof(struct rtos));
63
64 if (!os)
65 return JIM_ERR;
66
67 os->type = ostype;
68 os->current_threadid = -1;
69 os->current_thread = 0;
70 os->symbols = NULL;
71 os->target = target;
72
73 /* RTOS drivers can override the packet handler in _create(). */
74 os->gdb_thread_packet = rtos_thread_packet;
75
76 return JIM_OK;
77 }
78
79 static void os_free(struct target *target)
80 {
81 if (!target->rtos)
82 return;
83
84 if (target->rtos->symbols)
85 free(target->rtos->symbols);
86
87 free(target->rtos);
88 target->rtos = NULL;
89 }
90
91 static int os_alloc_create(struct target *target, struct rtos_type *ostype)
92 {
93 int ret = os_alloc(target, ostype);
94
95 if (JIM_OK == ret) {
96 ret = target->rtos->type->create(target);
97 if (ret != JIM_OK)
98 os_free(target);
99 }
100
101 return ret;
102 }
103
104 int rtos_create(Jim_GetOptInfo *goi, struct target *target)
105 {
106 int x;
107 const char *cp;
108 struct Jim_Obj *res;
109 int e;
110
111 if (!goi->isconfigure && goi->argc != 0) {
112 Jim_WrongNumArgs(goi->interp, goi->argc, goi->argv, "NO PARAMS");
113 return JIM_ERR;
114 }
115
116 os_free(target);
117
118 e = Jim_GetOpt_String(goi, &cp, NULL);
119 if (e != JIM_OK)
120 return e;
121
122 if (0 == strcmp(cp, "auto")) {
123 /* Auto detect tries to look up all symbols for each RTOS,
124 * and runs the RTOS driver's _detect() function when GDB
125 * finds all symbols for any RTOS. See rtos_qsymbol(). */
126 target->rtos_auto_detect = true;
127
128 /* rtos_qsymbol() will iterate over all RTOSes. Allocate
129 * target->rtos here, and set it to the first RTOS type. */
130 return os_alloc(target, rtos_types[0]);
131 }
132
133 for (x = 0; rtos_types[x]; x++)
134 if (0 == strcmp(cp, rtos_types[x]->name))
135 return os_alloc_create(target, rtos_types[x]);
136
137 Jim_SetResultFormatted(goi->interp, "Unknown RTOS type %s, try one of: ", cp);
138 res = Jim_GetResult(goi->interp);
139 for (x = 0; rtos_types[x]; x++)
140 Jim_AppendStrings(goi->interp, res, rtos_types[x]->name, ", ", NULL);
141 Jim_AppendStrings(goi->interp, res, " or auto", NULL);
142
143 return JIM_ERR;
144 }
145
146 int gdb_thread_packet(struct connection *connection, char const *packet, int packet_size)
147 {
148 struct target *target = get_target_from_connection(connection);
149 if (target->rtos == NULL)
150 return rtos_thread_packet(connection, packet, packet_size); /* thread not
151 *found*/
152 return target->rtos->gdb_thread_packet(connection, packet, packet_size);
153 }
154
155 static symbol_table_elem_t *next_symbol(struct rtos *os, char *cur_symbol, uint64_t cur_addr)
156 {
157 symbol_table_elem_t *s;
158
159 if (!os->symbols)
160 os->type->get_symbol_list_to_lookup(&os->symbols);
161
162 if (!cur_symbol[0])
163 return &os->symbols[0];
164
165 for (s = os->symbols; s->symbol_name; s++)
166 if (!strcmp(s->symbol_name, cur_symbol)) {
167 s->address = cur_addr;
168 s++;
169 return s;
170 }
171
172 return NULL;
173 }
174
175 /* searches for 'symbol' in the lookup table for 'os' and returns TRUE,
176 * if 'symbol' is not declared optional */
177 static bool is_symbol_mandatory(const struct rtos *os, const char *symbol)
178 {
179 for (symbol_table_elem_t *s = os->symbols; s->symbol_name; ++s) {
180 if (!strcmp(s->symbol_name, symbol))
181 return !s->optional;
182 }
183 return false;
184 }
185
186 /* rtos_qsymbol() processes and replies to all qSymbol packets from GDB.
187 *
188 * GDB sends a qSymbol:: packet (empty address, empty name) to notify
189 * that it can now answer qSymbol::hexcodedname queries, to look up symbols.
190 *
191 * If the qSymbol packet has no address that means GDB did not find the
192 * symbol, in which case auto-detect will move on to try the next RTOS.
193 *
194 * rtos_qsymbol() then calls the next_symbol() helper function, which
195 * iterates over symbol names for the current RTOS until it finds the
196 * symbol in the received GDB packet, and then returns the next entry
197 * in the list of symbols.
198 *
199 * If GDB replied about the last symbol for the RTOS and the RTOS was
200 * specified explicitly, then no further symbol lookup is done. When
201 * auto-detecting, the RTOS driver _detect() function must return success.
202 *
203 * rtos_qsymbol() returns 1 if an RTOS has been detected, or 0 otherwise.
204 */
205 int rtos_qsymbol(struct connection *connection, char const *packet, int packet_size)
206 {
207 int rtos_detected = 0;
208 uint64_t addr = 0;
209 size_t reply_len;
210 char reply[GDB_BUFFER_SIZE], cur_sym[GDB_BUFFER_SIZE / 2] = "";
211 symbol_table_elem_t *next_sym = NULL;
212 struct target *target = get_target_from_connection(connection);
213 struct rtos *os = target->rtos;
214
215 reply_len = sprintf(reply, "OK");
216
217 if (!os)
218 goto done;
219
220 /* Decode any symbol name in the packet*/
221 size_t len = unhexify((uint8_t *)cur_sym, strchr(packet + 8, ':') + 1, strlen(strchr(packet + 8, ':') + 1));
222 cur_sym[len] = 0;
223
224 if ((strcmp(packet, "qSymbol::") != 0) && /* GDB is not offering symbol lookup for the first time */
225 (!sscanf(packet, "qSymbol:%" SCNx64 ":", &addr)) && /* GDB did not find an address for a symbol */
226 is_symbol_mandatory(os, cur_sym)) { /* the symbol is mandatory for this RTOS */
227
228 /* GDB could not find an address for the previous symbol */
229 if (!target->rtos_auto_detect) {
230 LOG_WARNING("RTOS %s not detected. (GDB could not find symbol \'%s\')", os->type->name, cur_sym);
231 goto done;
232 } else {
233 /* Autodetecting RTOS - try next RTOS */
234 if (!rtos_try_next(target)) {
235 LOG_WARNING("No RTOS could be auto-detected!");
236 goto done;
237 }
238
239 /* Next RTOS selected - invalidate current symbol */
240 cur_sym[0] = '\x00';
241 }
242 }
243 next_sym = next_symbol(os, cur_sym, addr);
244
245 if (!next_sym->symbol_name) {
246 /* No more symbols need looking up */
247
248 if (!target->rtos_auto_detect) {
249 rtos_detected = 1;
250 goto done;
251 }
252
253 if (os->type->detect_rtos(target)) {
254 LOG_INFO("Auto-detected RTOS: %s", os->type->name);
255 rtos_detected = 1;
256 goto done;
257 } else {
258 LOG_WARNING("No RTOS could be auto-detected!");
259 goto done;
260 }
261 }
262
263 if (8 + (strlen(next_sym->symbol_name) * 2) + 1 > sizeof(reply)) {
264 LOG_ERROR("ERROR: RTOS symbol '%s' name is too long for GDB!", next_sym->symbol_name);
265 goto done;
266 }
267
268 reply_len = snprintf(reply, sizeof(reply), "qSymbol:");
269 reply_len += hexify(reply + reply_len, next_sym->symbol_name, 0, sizeof(reply) - reply_len);
270
271 done:
272 gdb_put_packet(connection, reply, reply_len);
273 return rtos_detected;
274 }
275
276 int rtos_thread_packet(struct connection *connection, char const *packet, int packet_size)
277 {
278 struct target *target = get_target_from_connection(connection);
279
280 if (strncmp(packet, "qThreadExtraInfo,", 17) == 0) {
281 if ((target->rtos != NULL) && (target->rtos->thread_details != NULL) &&
282 (target->rtos->thread_count != 0)) {
283 threadid_t threadid = 0;
284 int found = -1;
285 sscanf(packet, "qThreadExtraInfo,%" SCNx64, &threadid);
286
287 if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
288 int thread_num;
289 for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
290 if (target->rtos->thread_details[thread_num].threadid == threadid) {
291 if (target->rtos->thread_details[thread_num].exists)
292 found = thread_num;
293 }
294 }
295 }
296 if (found == -1) {
297 gdb_put_packet(connection, "E01", 3); /* thread not found */
298 return ERROR_OK;
299 }
300
301 struct thread_detail *detail = &target->rtos->thread_details[found];
302
303 int str_size = 0;
304 if (detail->thread_name_str != NULL)
305 str_size += strlen(detail->thread_name_str);
306 if (detail->extra_info_str != NULL)
307 str_size += strlen(detail->extra_info_str);
308
309 char *tmp_str = calloc(str_size + 4, sizeof(char));
310 char *tmp_str_ptr = tmp_str;
311
312 if (detail->thread_name_str != NULL)
313 tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->thread_name_str);
314 if (detail->extra_info_str != NULL) {
315 if (tmp_str_ptr != tmp_str)
316 tmp_str_ptr += sprintf(tmp_str_ptr, " : ");
317 tmp_str_ptr += sprintf(tmp_str_ptr, "%s", detail->extra_info_str);
318 }
319
320 assert(strlen(tmp_str) ==
321 (size_t) (tmp_str_ptr - tmp_str));
322
323 char *hex_str = malloc(strlen(tmp_str) * 2 + 1);
324 int pkt_len = hexify(hex_str, tmp_str, 0, strlen(tmp_str) * 2 + 1);
325
326 gdb_put_packet(connection, hex_str, pkt_len);
327 free(hex_str);
328 free(tmp_str);
329 return ERROR_OK;
330
331 }
332 gdb_put_packet(connection, "", 0);
333 return ERROR_OK;
334 } else if (strncmp(packet, "qSymbol", 7) == 0) {
335 if (rtos_qsymbol(connection, packet, packet_size) == 1) {
336 target->rtos_auto_detect = false;
337 target->rtos->type->create(target);
338 target->rtos->type->update_threads(target->rtos);
339 }
340 return ERROR_OK;
341 } else if (strncmp(packet, "qfThreadInfo", 12) == 0) {
342 int i;
343 if (target->rtos != NULL) {
344 if (target->rtos->thread_count == 0) {
345 gdb_put_packet(connection, "l", 1);
346 } else {
347 /*thread id are 16 char +1 for ',' */
348 char *out_str = malloc(17 * target->rtos->thread_count + 1);
349 char *tmp_str = out_str;
350 for (i = 0; i < target->rtos->thread_count; i++) {
351 tmp_str += sprintf(tmp_str, "%c%016" PRIx64, i == 0 ? 'm' : ',',
352 target->rtos->thread_details[i].threadid);
353 }
354 gdb_put_packet(connection, out_str, strlen(out_str));
355 free(out_str);
356 }
357 } else
358 gdb_put_packet(connection, "l", 1);
359
360 return ERROR_OK;
361 } else if (strncmp(packet, "qsThreadInfo", 12) == 0) {
362 gdb_put_packet(connection, "l", 1);
363 return ERROR_OK;
364 } else if (strncmp(packet, "qAttached", 9) == 0) {
365 gdb_put_packet(connection, "1", 1);
366 return ERROR_OK;
367 } else if (strncmp(packet, "qOffsets", 8) == 0) {
368 char offsets[] = "Text=0;Data=0;Bss=0";
369 gdb_put_packet(connection, offsets, sizeof(offsets)-1);
370 return ERROR_OK;
371 } else if (strncmp(packet, "qCRC:", 5) == 0) {
372 /* make sure we check this before "qC" packet below
373 * otherwise it gets incorrectly handled */
374 return GDB_THREAD_PACKET_NOT_CONSUMED;
375 } else if (strncmp(packet, "qC", 2) == 0) {
376 if (target->rtos != NULL) {
377 char buffer[19];
378 int size;
379 size = snprintf(buffer, 19, "QC%016" PRIx64, target->rtos->current_thread);
380 gdb_put_packet(connection, buffer, size);
381 } else
382 gdb_put_packet(connection, "QC0", 3);
383 return ERROR_OK;
384 } else if (packet[0] == 'T') { /* Is thread alive? */
385 threadid_t threadid;
386 int found = -1;
387 sscanf(packet, "T%" SCNx64, &threadid);
388 if ((target->rtos != NULL) && (target->rtos->thread_details != NULL)) {
389 int thread_num;
390 for (thread_num = 0; thread_num < target->rtos->thread_count; thread_num++) {
391 if (target->rtos->thread_details[thread_num].threadid == threadid) {
392 if (target->rtos->thread_details[thread_num].exists)
393 found = thread_num;
394 }
395 }
396 }
397 if (found != -1)
398 gdb_put_packet(connection, "OK", 2); /* thread alive */
399 else
400 gdb_put_packet(connection, "E01", 3); /* thread not found */
401 return ERROR_OK;
402 } else if (packet[0] == 'H') { /* Set current thread ( 'c' for step and continue, 'g' for
403 * all other operations ) */
404 if ((packet[1] == 'g') && (target->rtos != NULL)) {
405 threadid_t threadid;
406 sscanf(packet, "Hg%16" SCNx64, &threadid);
407 LOG_DEBUG("RTOS: GDB requested to set current thread to 0x%" PRIx64, threadid);
408 /* threadid of 0 indicates target should choose */
409 if (threadid == 0)
410 target->rtos->current_threadid = target->rtos->current_thread;
411 else
412 target->rtos->current_threadid = threadid;
413 }
414 gdb_put_packet(connection, "OK", 2);
415 return ERROR_OK;
416 }
417
418 return GDB_THREAD_PACKET_NOT_CONSUMED;
419 }
420
421 int rtos_get_gdb_reg_list(struct connection *connection)
422 {
423 struct target *target = get_target_from_connection(connection);
424 int64_t current_threadid = target->rtos->current_threadid;
425 if ((target->rtos != NULL) && (current_threadid != -1) &&
426 (current_threadid != 0) &&
427 ((current_threadid != target->rtos->current_thread) ||
428 (target->smp))) { /* in smp several current thread are possible */
429 char *hex_reg_list;
430
431 LOG_DEBUG("RTOS: getting register list for thread 0x%" PRIx64
432 ", target->rtos->current_thread=0x%" PRIx64 "\r\n",
433 current_threadid,
434 target->rtos->current_thread);
435
436 int retval = target->rtos->type->get_thread_reg_list(target->rtos,
437 current_threadid,
438 &hex_reg_list);
439 if (retval != ERROR_OK) {
440 LOG_ERROR("RTOS: failed to get register list");
441 return retval;
442 }
443
444 if (hex_reg_list != NULL) {
445 gdb_put_packet(connection, hex_reg_list, strlen(hex_reg_list));
446 free(hex_reg_list);
447 return ERROR_OK;
448 }
449 }
450 return ERROR_FAIL;
451 }
452
453 int rtos_generic_stack_read(struct target *target,
454 const struct rtos_register_stacking *stacking,
455 int64_t stack_ptr,
456 char **hex_reg_list)
457 {
458 int list_size = 0;
459 char *tmp_str_ptr;
460 int64_t new_stack_ptr;
461 int i;
462 int retval;
463
464 if (stack_ptr == 0) {
465 LOG_ERROR("Error: null stack pointer in thread");
466 return -5;
467 }
468 /* Read the stack */
469 uint8_t *stack_data = malloc(stacking->stack_registers_size);
470 uint32_t address = stack_ptr;
471
472 if (stacking->stack_growth_direction == 1)
473 address -= stacking->stack_registers_size;
474 retval = target_read_buffer(target, address, stacking->stack_registers_size, stack_data);
475 if (retval != ERROR_OK) {
476 free(stack_data);
477 LOG_ERROR("Error reading stack frame from thread");
478 return retval;
479 }
480 LOG_DEBUG("RTOS: Read stack frame at 0x%" PRIx32, address);
481
482 #if 0
483 LOG_OUTPUT("Stack Data :");
484 for (i = 0; i < stacking->stack_registers_size; i++)
485 LOG_OUTPUT("%02X", stack_data[i]);
486 LOG_OUTPUT("\r\n");
487 #endif
488 for (i = 0; i < stacking->num_output_registers; i++)
489 list_size += stacking->register_offsets[i].width_bits/8;
490 *hex_reg_list = malloc(list_size*2 + 1);
491 tmp_str_ptr = *hex_reg_list;
492 if (stacking->calculate_process_stack != NULL) {
493 new_stack_ptr = stacking->calculate_process_stack(target,
494 stack_data, stacking, stack_ptr);
495 } else {
496 new_stack_ptr = stack_ptr - stacking->stack_growth_direction *
497 stacking->stack_registers_size;
498 }
499 for (i = 0; i < stacking->num_output_registers; i++) {
500 int j;
501 for (j = 0; j < stacking->register_offsets[i].width_bits/8; j++) {
502 if (stacking->register_offsets[i].offset == -1)
503 tmp_str_ptr += sprintf(tmp_str_ptr, "%02x", 0);
504 else if (stacking->register_offsets[i].offset == -2)
505 tmp_str_ptr += sprintf(tmp_str_ptr, "%02x",
506 ((uint8_t *)&new_stack_ptr)[j]);
507 else
508 tmp_str_ptr += sprintf(tmp_str_ptr, "%02x",
509 stack_data[stacking->register_offsets[i].offset + j]);
510 }
511 }
512 free(stack_data);
513 /* LOG_OUTPUT("Output register string: %s\r\n", *hex_reg_list); */
514 return ERROR_OK;
515 }
516
517 int rtos_try_next(struct target *target)
518 {
519 struct rtos *os = target->rtos;
520 struct rtos_type **type = rtos_types;
521
522 if (!os)
523 return 0;
524
525 while (*type && os->type != *type)
526 type++;
527
528 if (!*type || !*(++type))
529 return 0;
530
531 os->type = *type;
532 if (os->symbols) {
533 free(os->symbols);
534 os->symbols = NULL;
535 }
536
537 return 1;
538 }
539
540 int rtos_update_threads(struct target *target)
541 {
542 if ((target->rtos != NULL) && (target->rtos->type != NULL))
543 target->rtos->type->update_threads(target->rtos);
544 return ERROR_OK;
545 }
546
547 void rtos_free_threadlist(struct rtos *rtos)
548 {
549 if (rtos->thread_details) {
550 int j;
551
552 for (j = 0; j < rtos->thread_count; j++) {
553 struct thread_detail *current_thread = &rtos->thread_details[j];
554 free(current_thread->thread_name_str);
555 free(current_thread->extra_info_str);
556 }
557 free(rtos->thread_details);
558 rtos->thread_details = NULL;
559 rtos->thread_count = 0;
560 rtos->current_threadid = -1;
561 rtos->current_thread = 0;
562 }
563 }